I learned about Ackerman many years ago fooling around with dirt cars. It can actually cause the inside tire to drag when the car is going through a turn. So I learned to heat the steering knuckle up and reshape them to remove Ackerman. Sounds crazy but it worked great. It was introduced so that the front tires would not squeal when you were making a tight slow turn on an asphalt parking lot. You guys amaze me.

That's kinda like custom paint, taking a screwup to work for you! It adds drag, makes sense to do that to the inside wheel to "pull it" into and thru the corners.